WO1988003492A1

WO1988003492A1 - Wheel means for moving objects

Info

Publication number: WO1988003492A1
Application number: PCT/SE1987/000520
Authority: WO
Inventors: Max Segerljung
Original assignee: Individual
Current assignee: Individual
Priority date: 1986-11-07
Filing date: 1987-11-05
Publication date: 1988-05-19
Anticipated expiration: 1989-05-07
Also published as: US4995679A; JP2602867B2; FI892184A0; EP0414671B1; JPH02500900A; FI892184L; FI892184A7; AU8271087A; EP0414671A1; DE3787812D1; DE3787812T2; SE8604781D0

Abstract

A means in an object movable on a ground, for instance vehicles, load carriers and corresponding things for removal of the object which means at least comprises a wheel arranged at the object. For achieving unique motion possibilities like for instance changing the motion direction of the vehicle 90° in relation to its previous direction the wheel (1) is driven and has its rolling point (9) resting against the ground positioned at a radial distance from a shaft (3) in relation to which the wheel with its rotation shaft (8) is turnably guided along a circle line having the mentioned radial distance as a radius round the mentioned shaft (3) for a change of the motion direction.

Description

Wheel Means for Moving Objects This invention relates to a means in an object which is movable on a bed and which is for instance a vehicle, a load carrier and other types of machines and similar for moving th object, which means at least comprises a wheel arranged at th object .

The purpose of this invention is among other things to bring about a means for propulsion and control of for instanc a vehicle, which means gives unique motion possibilities and is so constituted that it is possible by the aid of the means to change the motion direction of a vehicle to a direction perpendicular to the previous one.

That is achieved by the fact that the means according t the invention has the features mentioned in the claims. Thus, equipped with the means according to the inventio vehicles can be driven round sharp edges and in spaces requir ing a little turning radius, and regarding vehicles like for instance load carriers for material transportation within the industry the essential advantage is achieved that transporta- tion ways can be optimized and minimized and accordingly give an essentially better utilization of valuable areas. The means according to the invention is easy to control by means of simple mechanical facilities and under such circumstances also makes control and propulsion qualities possible which very well can be compared with those achieved by very advanced sys¬ tems electronically controlled.

Besides the unlimited motion patterns being made possib¬ le by the present invention are achieved advantages like those that no increased wear arises neither on the wheel nor the ground during twisting or turning or on the wheel of a sta¬ tionary vehicle. The wheel according to the invention does neither require a return to a neutral position for a conti¬ nuous twisting and also in this regard the present means es¬ sentially differs from known technique, for instance hydraulic motor driven wheels for trucks being such an example where the wheels have to be twisted in return in order that tubes and similar things shall not be damaged. Another essential advant- age achieved by the means according to this invention is that it is possible to put the means in right position irrespective of previous position and in quickest possible way.

In the following the invention is described more closely in the form of one single as an example illustrated embodiment with reference to the accompanying drawings, in which Fig. 1 shows a view of the means according to the invention and Fiσ. __ shows a section through the s me.

The means according to the invention comprises as a main element a wheel 1, which is preferably obliquely arranged as is shown in the figures and which at its periphery has a sub-- spherical tread surface 2, this wheel being intended to be ar¬ ranged in an object like for instance vehicles, load carriers, trucks and other types of machines and similar things. For the propulsion there is arranged a shaft 3 and for the control function itself a gear wheel, drive gear 4 or the similar in¬ tended to be connected to a shifting motor not shown in the drawing or another suitable driving means. Propulsion is made by bringing the shaft 3 to rotate by a motor not shown in the drawing, preferably via a driving gear.

The rotation of the driving shaft is in the example shown in the drawings transmitted via a transmission formed by a number of gear wheels 5, 6, 7 to the shaft 8 of the wheel which is obliquely arranged in relation to the shaft 3 in the shown example but which in other embodiments can be perpendi¬ cularly arranged in relation to the last mentioned shaft.

The shaft 3 is journalled in a plate 12 made together with ^'a sleeve by means of bearings 16 and 17, which plate can be fastened at the object in question or comprise a part of this one, while the wheel shaft 8 is journalled in a base plate or a pivoting arm 10 in which also a shaft 18 for the intermediate drive gear 6 in the mentioned gear wheel trans¬ mission is journalled. The wheel shaft 8 is connected to the wheel 1 which besides the spherical part 2 comprises a rim 19 to which the shaft 8 can be fastened.

The rotation motion of the shaft 3 is accordingly trans¬ mitted to the wheel 1 which with its subspherical, peripheral part 2 is in contact with the ground at the rolling point 9 and due to that fact drives the object in question in relati to the ground. As far as the shaft 8 is fixed against a pivo ing motion in relation to the shaft 3 and is accordingly onl permitted to rotate round its own rotational axis the propul sion is made in one and the same direction. In the example t mentioned fixation of the shaft 8 is achieved by the fact tha the fundament 10 in which the wheel shaft 8 and the shaft 18 of the intermediate drive gear are journalled is in mechnical connection with the gear wheel or the drive gear 4 which is rigidly connected with a sleeve part of the fundament which can not rotate if the gear wheel or the drive gear 4 is not influenced by an outer driving means to rotate.

The fundament 10 with the shafts 8, 18 journalled there in is by means of bearings 14 and 15 pivotably journalled at the sleeve-formed part of the plate 12.

When influencing the gear wheel or the drive gear 8 so that this one is brought to rotate, the whole fundament 10 with the wheel shaft 8 will pivot round the shaft 3 and by so doing the wheel 1 with its rolling point 9 will describe a circular motion round the shaft 3. The rotation axis R of the wheel 1 intersects the prolonged center line of the driving shaft 3 in a point 13 on the imaginary sphere which is de¬ scribed during the rotation of one revolution by the sub- spherical periphery area of the wheel. Furthermore, the point of intersection between the rotation axis R of the wheel and line D comprising the diameter of the wheel in the rolling plane is on a radial distance from the shaft 3.

In the embodiment shown in the drawings with a gear ratio of 1:1 between the shaft 3 and the wheel- shaft 8 the wheel 1 in its rolling plane shall have the same circumferenc as the circle formed on the ground by the rolling point 9 whe turning the fundament one revolution round the shaft 3. That means that the distance A shall be the same as the distance 0,5 D (see Fig. 2) . Of course, this invention is not limited to such a gear ratio between the shafts 3 and 8 but every other gear ratio between them is possible within the scope of the present invention. However, the circumferential velocity of the wheel shall be so adapted to the circumferential velo^¬ city in the rolling point 9 that the turning of the wheel round the shaft 3 gives rise to that these circumferential velocities correspond to each other in the rolling point when turning the wheel round the shaft 3. This gives no slide in relation to the ground but a soft motion free from losses is achieved in all directions along the plane on which the object provided with the means according to the present invention rests.

In order to minimize the uneven load is in the embodi¬ ment shown in the drawings the angle between the shaft 3 and the shaft 8 elected to 45° but as has been mentioned previous¬ ly of course other angles can come into question within the scope of this invention.

A pivoting motion of the fundament round the shaft 3 im¬ mediately results in a change of the direction of the object under the presumption that propulsion is at the same time made via the shaft 3. In stationary objects _r that is with a εta- tionary shaft 3, the fundament 10 can be pivoted round the shaft 3 without influencing this one and without any removal of the object . Due to the fact that the gear wheel 6 is jour¬ nalled in the fundament 10 between the gear wheels 5 and 8, a pivoting of the fundament 10 for guidance will not result in any contribution to the motion even if driving is made at the same time via the shaft 3.

The conical gear wheels 5, 6, 7 are designed with the same pitch.

The present invention is not limited to what has been described above and shown in the drawings but can be changed and modified in many different ways within the scope of the invention idea mentioned in the claims. Thus, it is possible to provide the wheel with a motor of its own for its propul¬ sion and for its rotation round its rotation axis and in such a case there is no need of driving via the shaft 3.

Claims

Claims 1. A means in an object movable on a ground, for in¬ stance vehicles, load carriers and corresponding things for removal of the object which means at least comprises a wheel arranged at the object, c h a r a c t e r i z e d in the combination of the following features:

- The wheel (1) is driven and has its rolling point (9) resting against the ground positioned at a radial distance from a shaft (3) in relation to which the wheel is turnably guided along a circle line having the mentioned radial dis¬ tance as a radius round the mentioned shaft (3) for a change of the motion direction;

- The point of intersection between the rotation axis (R) of the wheel (1) and a line (D) comprising the diameter o the wheel in the rolling plane is at a radial distance from the shaft (3) .

2. A means according to claim 1, c h a r a c t e r ¬ i z e d in that the circumferential velocity of the driven wheel is adapted to the circumferential velocity in the roll- ing point (9) that the turning of the wheel (1) round the men tioned shaft (3) gives rise to, and that these circumferentia velocities correspond to each other in the rolling point (9) when turning the wheel round the mentioned shaft (3).

3. A means according to claim 1 or 2, c h a r a c - t e r i z e d in that the circumferential area of the wheel containing the rolling point (9) has a εubεpherical form and that the rotation axis (R) of the wheel and the mentioned shaft (3) in relation to which the wheel is turnably guided are mutually arranged in that way that at least their imagin- ary prolongations in direction to the ground intersect each other in a point (13) on the spherical area described by the circumferential area of the rotating wheel.

4. A means according to any one of the preceding claims, c h a r a c t e r i z e d in that the shaft (3) is rotatabl journalled by means of bearings (16, 17) in a plate (12) pro¬ vided with an integrated sleeve intended to be fastened to th objec .

5. A means according to claim 4, the shaft (3) being provided with a rigidly arranged gear wheel (5) and the wheel (1) having a shaft (8) rigidly mounted in the wheel, c h a r a c t e r i z e d in that the rotation of the shaft (3) is transmitted to the shaft C8) of the wheel (1) by means of an intermediate gear wheel (6) and another gear wheel (7) which is rigidly mounted on the shaft C8).

6. A means according to claim 5, c h a r a c t e r ¬ i z e d in that the intermediate gear wheel C6) is provided with a shaft pin (18) rigidly mounted on the gear wheel which pin is rotatably journalled in a fundament (10) and that the shaft (8) of the wheel (1) iε rotatably journalled in the same fundament .

7. A means according to claim 6, c h a r a c t e r - i z e d in that the fundament (10) is pivotably journalled on the sleeve of the plate (12) by means of bearings C14, 15).

8. A means according to claim 5, c h a r a c t e r ¬ z e d in that when having a gear ratio of 1:1 between the wheel shaft (8) and the driving shaft (3>, the diameter (D) of the wheel in the rolling plane is the same as the diameter of the circle that the wheel (1) with its rolling point (9) de¬ scribes when turning the wheel CD one revolution round the driving shaft (3).

9. A means according to any one of the preceding claims, c h a r a c t e r i z e d in that the rolling plane of the wheel is obliquely arranged in relation to the shaft C3).